CN102414067A - 用于运行车辆、特别是混合动力车辆的方法和装置 - Google Patents

用于运行车辆、特别是混合动力车辆的方法和装置 Download PDF

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CN102414067A
CN102414067A CN2010800177603A CN201080017760A CN102414067A CN 102414067 A CN102414067 A CN 102414067A CN 2010800177603 A CN2010800177603 A CN 2010800177603A CN 201080017760 A CN201080017760 A CN 201080017760A CN 102414067 A CN102414067 A CN 102414067A
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steering shaft
components
vehicle
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driving
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A.马斯
M.赫尔曼
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Robert Bosch GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/15—Control strategies specially adapted for achieving a particular effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
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    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
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    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
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    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
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    • B60W2710/083—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
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    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
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Abstract

本发明涉及一种用于运行车辆、特别是混合动力车辆的方法，在所述方法中通过驱动设备（5，11）来驱动车辆的车轴（7，13）中的至少一个车轴，由此所述车辆通过下述方式以给定的额定转矩进行加速，即，驱动分力矩被传递到至少一个车轴（7，13）和联接在其上的车轮（8，9；14，15）上。为了将由驾驶员所希望的额定转矩转换成车辆的相应的加速，在曲线行驶时，如此对转向轴（7）和/或非转向轴（13）的驱动分力矩进行校正，使得所述车辆以给定的额定转矩进行加速。

Description

用于运行车辆、特别是混合动力车辆的方法和装置
现有技术
本发明涉及一种用于运行车辆、特别是混合式车辆（Hybridfahrzeug）的方法，在所述方法中通过驱动设备来驱动车辆的车轴中的至少一个车轴，由此所述车辆通过下述方式以一种给定的额定转矩进行加速，即，将一种驱动分力矩（Antriebsteilmoment）传递到至少一个车轴和联接在其上的车轮上，以及一种用于实施这种方法的装置。
这种类型的装置由DE 35 42 059 C1已知。车辆具有以传统的方式可通过内燃机驱动的主驱动轴。在主驱动轴车轮的打滑提高时，可接通的辅助驱动轴的车轮能借助分开的辅助驱动设备、特别是电机自动地来驱动。
在此，车辆的额定转矩被分配到车辆的两个车轴上，该车辆例如由驾驶员借助于对于在车辆上的油门踏板的操作来调节。在曲线行驶时－其中车辆被控制进行转向，就会出现这种影响：作用到转向的车轮上的转矩比作用到非转向的车轮上的转矩更多地被用于对车辆进行加速。在下述情况下－高的、反向的力矩施加在所述两个车轴上，那么仅通过改变转向角就会使车辆的额定转矩不希望地改变。这可能会使车辆的驾驶员感觉不舒服。
本发明的公开内容
具有权利要求1的特征的用于运行车辆的方法的优点是：即使在曲线行驶时，所调节的额定转矩实际上也通过车辆的驱动特性来实现。通过下述方式对于转向轴和非转向轴的车轮的不同的杠杆比例进行补偿：在曲线行驶时如此对转向轴和/或非转向轴的驱动分力矩进行校正，即，车辆以给定的额定转矩进行加速。
有利地，所述转向轴和/或非转向轴的驱动分力矩与车轮至车辆的旋转点的距离相关地进行校正。在曲线行驶时，由于进行转向，车轮至车辆的旋转点的不同长度的力臂在车轮转矩相同的情况下引起了对车辆的不同强度的加速作用，这会导致对车辆的转向的和非转向的车轴的不同作用，并且由此会导致车辆的被区分的加速特性。对该被区分的加速特性进行可靠地补偿。
在一种设计方案中，所述转向轴和/或非转向轴的驱动分力矩与转向轴的车轮的偏转角相关地进行校正。所述补偿不仅可以用于混合驱动，而且还可以在全轮驱动和传统驱动时使用。
有利地，给定的额定转矩被确定并且被分成所述转向轴和非转向轴的驱动分力矩，其中至少一个驱动分力矩与所述转向轴的车轮的轮偏转角相关地进行校正，然后所述驱动分力矩被传递到所述转向轴和非转向轴上。因为该额定转矩能任意地在转向的车轴和非转向的车轴之间进行重新分配，所以该补偿总是根据由驾驶员调节的驱动愿望来实现。在此，转向轴和非转向轴进而车轮不仅能正地而且还能负地进行驱动。
在一种设计方案中，所述驱动分力矩与车辆的运行状态相关地分配到所述转向轴和非转向轴的车轮上。从而，该驱动分力矩能与电池充电状态相关地分配到转向轴和非转向轴上。例如在应用电机作为驱动设备时，在电池完全充满的状态下，优选由电池驱动的电机被应用于驱动其中一个车轴，而在较低的充电状态下，电池能通过驱动另一车轴的驱动设备、例如内燃机来充电。
在一种改进方案中，驱动分力矩与基准点相关地进行校正，该基准点涉及所述转向轴或非转向轴或者涉及在所述转向轴和非转向轴之间的位置。由此引起了：将被选择为基准点的车轴考虑作为正确调节的车轴。与该基准点相关地，基于曲线行驶对另一个车轴的驱动分力矩进行校正。
有利地，确定非转向轴作为用于给定的额定转矩的基准点，其中在分配了所述驱动分力矩之后，所述转向轴的驱动分力矩与所述转向轴车轮的轮偏转角相关地在数值方面减小。这种设置方式使得该系统的必要的计算能力（Rechenleistung）得以最小化，因为在给定的额定转矩、轮偏转角和被校正的驱动分力矩之间的关系能简单地从图表或特征曲线中读出。
在一种设计方案中，选出所述转向轴作为用于给定的额定转矩的基准点，其中所述非转向轴的驱动分力矩与转向车轮的轮偏转角相关地在数值方面增加。由此实现了对于在所述两个车轴上进行驱动的力矩进行补偿。
有利地，选择在所述转向轴和非转向轴之间的位置来作为用于给定的额定转矩的基准点，其中在所述转向轴上的驱动分力矩在数值方面减小，并且在所述非转向轴上的驱动分力矩在数值方面增加。
在另一种改进方案中，本发明涉及一种用于运行车辆、特别是混合动力车辆的装置，其中通过驱动设备来驱动所述车辆的车轴中的至少一个车轴，由此所述车辆通过下述方式以给定的额定转矩进行加速，即，驱动分力矩被传递到至少一个车轴和联接在其上的车轮上。
为了总是能如此对车辆的额定转矩进行调节，即该额定转矩总是与驾驶员愿望协调一致，设置器件，所述器件在曲线行驶时如此对转向轴和/或非转向轴的驱动分力矩进行校正，使得所述车辆以给定的额定转矩进行加速。因此，即使在曲线行驶时，所调节的额定转矩实际上也总是通过车辆的驱动特性来实现。因此可靠地防止车辆基于不同程度地在转向轴和非转向轴的车轮上起作用的力而出现的错误性能。
在一种设计方案中，所述器件与车轮至车辆的旋转点的距离相关地对转向轴和/或非转向轴的驱动分力矩进行校正。
有利地，一种控制单元确定了所述给定的额定转矩并且将其分成转向轴和非转向轴的驱动分力矩，其中所述驱动分力矩与所述转向轴的车轮的轮偏转角相关地进行校正并且传递到所述转向轴和非转向轴上。非转向轴和/或转向轴的车轮的车轮转矩相应于控制单元的计算来进行校正和调节。通过对车轮转矩进行校正，实现所述车辆的所希望的加速或延迟。
在一种设计方案中，所述控制单元与用于控制所述转向轴的第一驱动设备连接以及与用于控制所述非转向轴的第二驱动设备连接。由此，能简单地对于从驱动设备传递到车轴的各个车轮上的驱动分力矩进行调节。
在一种改进方案中，所述第一驱动设备设计成内燃机，并且所述第二驱动设备设计成电机。特别是在这种车轴混合动力车辆中，在进行转向时可靠地防止车辆前轮和后轮的不同的加速作用。
本发明允许大量实施例。其中之一要借助在附图中示出的附图进行详细阐述。其中示出了：
图1：用于根据本发明的用于机械地驱动未联接的车轴的装置的实施例，
图2：在曲线行驶时车辆车轮的杠杆比例，
图3：用于根据本发明的方法的示意性流程图，该方法用于运行根据图1的装置。
相同的特征用相同的附图标记来标注。
图1示出了发动机控制设备1，向该发动机控制设备传输所希望的驱动转矩作为额定转矩。通过由驾驶员来调节油门踏板2向发动机控制设备1给定所述额定转矩。但是还存在一种可能性，即所述给定通过未进一步示出的驾驶员辅助系统或者同样未示出的车辆行驶动力学系统或全自动变速箱来实现。
发动机控制设备1具有存储器3，在该存储器中存储着特征曲线和表格，它们对于车辆的驱动所进行的控制和调节是需要的。
此外，发动机控制设备1与转向角传感器4连接，该转向角传感器对由驾驶员所偏转的转向角进行探测。此外，发动机控制设备1直接与内燃机5连接，该内燃机通过第一传动装置6来驱动第一轴7，在该第一轴上设置两个驱动轮8，9。该第一轴7是转向轴，这意味着：转向运动 – 车辆驾驶员在方向盘上实施该转向运动 – 被传递到车辆的前轮8，9上。
此外，发动机控制设备1与电机控制设备10相连接，该电机控制设备触发电机11。电机11通过第二传动装置12与车辆的第二非转向轴13相连接，该第二非转向轴13驱动车辆的后轮14和15。
在车辆直线行驶时，由驾驶员输入的额定转矩分配到转向轴7和非转向轴13上，从而车轮8，9；14，15的车轮力矩的和与该额定转矩相等。在曲线行驶时，这种情况发生改变。
图2示出了在进行转向时车辆的旋转点D。其中示出了：车辆的前轮8，9的力臂16，17比后轮14，15的力臂18，19长。
转向轴7的较长的力臂16，17导致了：前轮8，9在车辆的相同的转矩时比后轮14，15更快地加速。这种差异在前轮8，9完全转向（Volleinschlag）时约为30%。这就是说在非转向轴13上的转矩例如为100 Nm时，如果70 Nm的转矩作用到所述转向轴上，则车辆完全如同转向轴7的前轮8，9那样快速地加速。
正如在图1中示出的轴混合动力结构中，这引起了：在恒定的油门踏板位置（额定转矩 = 常数）时，例如转向轴7以+50 Nm通过内燃机5来驱动。非转向轴13通过作为发电机的电机11以- 60Nm来制动，则在直线行驶时一种-10 Nm的制动力矩总体地起作用。
如果驾驶员现在使前轮8，9完全转向，并且未应用所述的根据本发明的补偿，则由转向轴7的车轴力矩和非转向轴13的车轴力矩组成的总和保持为- 10 Nm。因为转向轴7的车轮8，9如上所述具有明显较长的力臂16，17，所以这在油门踏板位置未改变时会导致：车辆突然进行加速。
如果发动机控制设备5在曲线行驶时关闭内燃机5，则驾驶员所希望的-10 Nm仅由非转向轴13的车轮提供，由此车辆突然地又进行减速。
这种影响通过下述方法来防止，所述方法要利用图3进行详细阐述。在此出于简易性的原因，仅转向轴7和非转向轴13的驱动分力矩被考虑替代各个车轮的车轮转矩，其分别使车辆的前轮8，9和后轮14，15相连接。
在方块100中，发动机控制设备1对额定转矩的预值（Vorgabe）进行探测，该额定转矩例如与高压电池的充电状态相关地被分配成到前轴和后轴上的驱动分力矩，该高压电池对电机11进行驱动。在方块110中对转向角进行探测。
在方块120中，非转向轴13的驱动分力矩被认为是适当的。转向轴7的驱动分力矩与所测量的转向角相关地以因数< 1地在数量方面进行减小。在一种特别简单的实施方式中，该因数由车轮在转向轴上的偏转角度的余弦来确定。
替代地，额定转矩与在轴7，13之间的点相关。该基准点例如可以位于驾驶员座位区域中的前座椅上，由此加速感觉对于驾驶员来说得以改善。在非转向轴13上的驱动分力矩与转向角相关地在数值方面提高，而在非转向轴上的驱动分力矩与转向角相关地在数值方面减小。
在方块130中，将所述在方块120中确定的驱动分力矩传递到转向轴7和非转向轴13上。

Claims (14)

1.一种用于运行车辆、特别是混合动力车辆的方法，在所述方法中通过驱动设备（5，11）来驱动车辆的车轴（7，13）中的至少一个车轴，由此所述车辆通过下述方式以一种给定的额定转矩进行加速，即，驱动分力矩被传递到至少一个车轴（7，13）和联接在其上的车轮（8，9；14，15）上，其特征在于，在曲线行驶时，如此对转向轴（7）和/或非转向轴（13）的驱动分力矩进行校正，使得所述车辆以所述给定的额定转矩进行加速。
2.根据权利要求1所述的方法，其特征在于，所述转向轴（7）和/或非转向轴（13）的驱动分力矩与车轮（8，9；14，15）至车辆的旋转点（D）的距离（16，17；18，19）相关地进行校正。
3.根据权利要求1或2所述的方法，其特征在于，所述转向轴（7）和/或非转向轴（13）的驱动分力矩与转向轴的车轮（8，9）的偏转角相关地进行校正。
4.根据权利要求1至3中任一项所述的方法，其特征在于，所述给定的额定转矩被确定并且被分成所述转向轴（7）和非转向轴（13）的驱动分力矩，其中至少一个驱动分力矩与所述转向轴（7）的车轮（8，9）的偏转角相关地进行校正，然后所测得的驱动分力矩传被递到所述转向轴（7）和非转向轴（13）上。
5.根据权利要求4所述的方法，其特征在于，所述驱动分力矩与车辆的运行状态相关地分配到所述转向轴（7）和非转向轴（13）上。
6.根据前述权利要求中至少一项所述的方法，其特征在于，驱动分力矩与一种基准点相关地进行校正，该基准点涉及所述转向轴（7）或非转向轴（13）或者涉及在所述转向轴（7）和非转向轴（13）之间的位置。
7.根据权利要求6所述的方法，其特征在于，确定非转向轴（13）作为用于所述给定的额定转矩的基准点，其中所述转向轴（7）的驱动分力矩与所述转向轴（7）的车轮（8，9）的轮偏转角相关地进行校正。
8.根据权利要求6所述的方法，其特征在于，选出所述转向轴（7）作为用于所述给定的额定转矩的基准点，其中所述非转向轴（13）的驱动分力矩与车轮偏转相关地在数值方面增加。
9.根据权利要求6所述的方法，其特征在于，选择在所述转向轴（7）和非转向轴（13）之间的位置作为用于给定的额定转矩的基准点，其中在所述转向轴（7）上的驱动分力矩在数值方面减小，并且在所述非转向轴（13）上的驱动分力矩在数值方面增加。
10..用于运行车辆、特别是混合动力车辆的装置，在所述装置中通过驱动设备（5，11）来驱动车辆的车轴（7，13）中的至少一个车轴，由此所述车辆通过下述方式以一种给定的额定转矩进行加速，即，驱动分力矩被传递到至少一个车轴（7，13）和联接在其上的车轮（8，9；14，15）上，其特征在于，设置器件（1），所述器件在曲线行驶时如此对转向轴（7）和/或非转向轴（13）的驱动分力矩进行校正，使得所述车辆以所述给定的额定转矩进行加速。
11.根据权利要求10所述的装置，其特征在于，所述器件（1）与车轮（8，9；14，15）至车辆的旋转点（D）的距离（16，17；18，19）相关地对所述转向轴（7）和/或非转向轴（13）的驱动分力矩进行校正。
12.根据权利要求10或11所述的装置，其特征在于，控制单元（1）确定所述给定的额定转矩并且将其分成所述转向轴（7）和非转向轴（13）的驱动分力矩，其中所述驱动分力矩与所述转向轴（7）的车轮（8，9）中的至少一个车轮的轮偏转角相关地进行校正并且被传递到所述转向轴（7）和非转向轴（13）上。
13.根据权利要求10、11或12所述的装置，其特征在于，所述控制单元（1）与用于控制所述转向轴（7）的第一驱动设备（5）以及用于控制所述非转向轴（13）的第二驱动设备（11）连接。
14.根据权利要求13所述的装置，其特征在于，所述第一驱动设备（5）设计成内燃机，并且所述第二驱动设备（11）设计成电机。
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